From 810b12a1ac80f3e6aed4d17a2b5390b24eefe8e4 Mon Sep 17 00:00:00 2001 From: Robert Lefebvre Date: Fri, 22 May 2015 16:01:37 -0400 Subject: [PATCH] AC_AttitudeControlHeli: Change Rate Yaw FF LPF from 5Hz to 10Hz. --- libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h b/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h index bf58202700..30ce378fb7 100644 --- a/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h +++ b/libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.h @@ -11,7 +11,8 @@ #include #define AC_ATTITUDE_HELI_RATE_INTEGRATOR_LEAK_RATE 0.02f -#define AC_ATTITUDE_HELI_RATE_FF_FILTER 5.0f +#define AC_ATTITUDE_HELI_RATE_RP_FF_FILTER 5.0f +#define AC_ATTITUDE_HELI_RATE_Y_FF_FILTER 10.0f class AC_AttitudeControl_Heli : public AC_AttitudeControl { public: @@ -25,9 +26,9 @@ public: p_angle_roll, p_angle_pitch, p_angle_yaw, pid_rate_roll, pid_rate_pitch, pid_rate_yaw), _passthrough_roll(0), _passthrough_pitch(0), - pitch_feedforward_filter(AC_ATTITUDE_HELI_RATE_FF_FILTER), - roll_feedforward_filter(AC_ATTITUDE_HELI_RATE_FF_FILTER), - yaw_feedforward_filter(AC_ATTITUDE_HELI_RATE_FF_FILTER) + pitch_feedforward_filter(AC_ATTITUDE_HELI_RATE_RP_FF_FILTER), + roll_feedforward_filter(AC_ATTITUDE_HELI_RATE_RP_FF_FILTER), + yaw_feedforward_filter(AC_ATTITUDE_HELI_RATE_Y_FF_FILTER) { AP_Param::setup_object_defaults(this, var_info); }